mrpt::poses::CPoint2D Class Reference

A class used to store a 2D point. More...

#include <mrpt/poses/CPoint2D.h>

Inheritance diagram for mrpt::poses::CPoint2D:

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Collaboration diagram for mrpt::poses::CPoint2D:

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List of all members.

Public Member Functions
	CPoint2D (double x=0, double y=0)
	Constructor for initializing point coordinates.
	CPoint2D (const CPose2D &o)
	Constructor from x/y coordinates given from other pose.
	CPoint2D (const CPose3D &o)
	Constructor from x/y coordinates given from other pose.
	CPoint2D (const CPoint3D &o)
	Constructor from x/y coordinates given from a 3D point.
	CPoint2D (const mrpt::math::TPoint2D &o)
	Implicit constructor from lightweight type.
CPoint2D	operator- (const CPose2D &b) const
	The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a).
void	getAsVector (vector_double &v) const
	Return the pose or point as a 1x2 vector: [x y].
void	getHomogeneousMatrix (CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" ).
void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ).
double	operator[] (unsigned int i) const

---

Detailed Description

A class used to store a 2D point.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

poses::CPoint2D
Homogeneous transfomation matrix	Spatial representation
1 0 0 x 0 1 0 y 0 0 1 0 0 0 0 1

See also:

CPoseOrPoint,CPose, CPoint

Definition at line 151 of file CPoint2D.h.

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Constructor & Destructor Documentation

mrpt::poses::CPoint2D::CPoint2D	(	double	x = 0,
		double	y = 0
	)

Constructor for initializing point coordinates.

mrpt::poses::CPoint2D::CPoint2D

(

const CPose2D &

o

)

[explicit]

Constructor from x/y coordinates given from other pose.

mrpt::poses::CPoint2D::CPoint2D

(

const CPose3D &

o

)

[explicit]

Constructor from x/y coordinates given from other pose.

mrpt::poses::CPoint2D::CPoint2D

(

const CPoint3D &

o

)

[explicit]

Constructor from x/y coordinates given from a 3D point.

mrpt::poses::CPoint2D::CPoint2D

(

const mrpt::math::TPoint2D &

o

)

Implicit constructor from lightweight type.

---

Member Function Documentation

void mrpt::poses::CPoint2D::asString

(

std::string &

s

)

const [inline, virtual]

Returns a human-readable textual representation of the object (eg: "[0.02 1.04 -0.8]" ).

See also:

fromString

Implements mrpt::poses::CPoseOrPoint.

Definition at line 198 of file CPoint2D.h.

References mrpt::format().

void mrpt::poses::CPoint2D::fromString

(

const std::string &

s

)

[inline, virtual]

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ).

See also:

asString

Exceptions:

std::exception

On invalid format

Implements mrpt::poses::CPoseOrPoint.

Definition at line 204 of file CPoint2D.h.

References ASSERTMSG_, mrpt::math::CMatrixTemplate< T >::fromMatlabStringFormat(), mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::math::size(), and THROW_EXCEPTION.

void mrpt::poses::CPoint2D::getAsVector

(

vector_double &

v

)

const [virtual]

Return the pose or point as a 1x2 vector: [x y].

Implements mrpt::poses::CPoseOrPoint.

void mrpt::poses::CPoint2D::getHomogeneousMatrix

(

CMatrixDouble44 &

out_HM

)

const [inline, virtual]

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also:

getInverseHomogeneousMatrix

Implements mrpt::poses::CPoseOrPoint.

Definition at line 188 of file CPoint2D.h.

References mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::get_unsafe(), and mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >::unit().

CPoint2D mrpt::poses::CPoint2D::operator-

(

const CPose2D &

b

)

const

The operator D="this"-b is the pose inverse compounding operator, the resulting points "D" fulfils: "this" = b + D, so that: b == a + (b-a).

double mrpt::poses::CPoint2D::operator[]

(

unsigned int

i

)

const [inline]

Definition at line 212 of file CPoint2D.h.